/********************************************************
* this file is defined the dynamics identify method
* author : liwang
* date : 20230228
*********************************************************/

#ifndef _IDENITYF_DYNAMICS_H_
#define _IDENITYF_DYNAMICS_H_

#define IDENTIFY_TRAJ_NUM 4
#define ELE_IDENTI_TRAJ_DIMENSION 7 * 7 * IDENTIFY_TRAJ_NUM
#define DYNAMIC_VERSION 0x01

void GetDynamicsIdenitfyStartPos(const double* a, double* startPos);
void getIdentifyTrajPos(const double* dynamics_identify_traj_para, double* pos);
int checkIdentifyTimeCount();
void resetIdentifyTrajPos();
int recordIdentifyData(int dynamics_identifying_status, int motion_state, const double* q_fb, const double* tor_fb, const double* tor_sensor);
void setIdentifyCycleTime(int time);

int friction_identify_moving();
void resetFrictionTraj();
int recordFriciotnIdentifyData(int friction_identifying_status, int motion_state, const double* q_fb, const double* tor_fb);

#endif